Chapter 2 Specifications
2–3
HC Series (3000r/min. rating)
INC specifications: HC
∗∗
∗∗
∗∗
∗∗
-E51/-E42/-E33, ABS specifications: HC
∗∗
∗∗
∗∗
∗∗
-A51/-A42/-A33
Servomotor type
HC53
HC103
HC153
HC203
HC353
HC453
HC703
Rated output [kW]
0.5
1.0
1.5
2.0
3.5
4.5
7.0
Rated current
[A]
3.2
5.3
8.6
10.4
16.5
22.1
30.5
Stall current
[A]
5.8
9.8
15.9
22.4
33.3
57.3
67.2
Rated torque [N•m]
{[kgf•cm]}
1.59
{16.3}
3.18
{32.5}
4.77
{48.7}
6.37
{65.0}
11.1
{114}
14.3
{146}
22.3
{227}
Continuous
characteristics
Stall torque
[N•m]
{[kgf•cm]}
2.94
{30.0}
5.88
{60.0}
8.82
{90.0}
13.7
{140}
22.5
{230}
37.2
{380}
49.0
{500}
Rated speed
[r/min]
3000
Max. speed
[r/min]
3000
Max. current
[A]
17
28
47
64
85
113
141
Max. torque
[N•m]
{[kgf•cm]}
8.82
{90.0}
16.7
{170}
28.4
{290}
40.2
{410}
55.9
{570}
79.8
{814}
105
{1072}
Power rate at continuous rated
torque [kW/sec]
3.8
7.4
11.4
9.5
15.0
16.9
29.3
Instantaneous angle acceleration
[rad/sec
2
]
7234
6970
14308
9459
6817
6593
6566
J
[kg•cm
2
]
{[kgf•cm•sec
2
]}
6.6
{0.007}
13.7
{0.014}
20.0
{0.02}
42.5
{0.04}
82
{0.08}
121
{0.12}
160
{0.16}
Motor inertia
GD
2
[kgf•cm
2
]
26.5
54.8
79.8
170
328
484
640
J
[kg•cm
2
]
{[kgf•cm•sec
2
]}
8.6
{0.009}
15.7
{0.016}
22.0
{0.022}
52.5
{0.054}
92
{0.094}
131
{0.134}
170
{0.173}
Motor inertia
with brakes
GD
2
[kgf•cm
2
]
34.5
62.8
87.8
210
368
524
680
Recommended motor shaft
conversion load inertia rate
5-times or less of motor inertia
Armature resistance (phase 20
°
C)
[
Ω
]
0.55
0.33
0.20
0.11
0.06
0.030
0.025
Armature inductance (20
°
between
wires)
[mH]
5.7
3.6
2.2
3.9
2.1
1.2
0.9
Inductive voltage constant (20
°
C,
±
10% between wires)
[mV/rpm]
35.3
42.3
40.7
41.6
45.7
46.2
46.8
Torque constant (
±
10%)
[kgf•cm/Arms]
{[kgf•cm/Ap]}
6.0
{4.2}
7.2
{5.1}
6.9
{4.9}
7.0
{5.0}
7.7
{5.5}
7.8
{5.5}
7.9
{5.6}
Electrical time constant
[msec]
5.1
5.5
5.4
17.2
17.4
20.1
15.4
Mechanical time constant
[msec]
3.2
2.8
2.7
3.1
2.6
1.8
2.0
Thermal time constant
[min]
15
20
25
35
45
50
55
Static friction torque
[N•m]
{[kgf•cm]}
0.13
{1.3}
0.18
{1.8}
0.20
{2.0}
0.16
{1.6}
0.21
{2.1}
0.40
{4.1}
0.50
{5.1}
Armature coil temperature upper limit
degree
[deg]
100
Motor end detector
Resolution per motor rotation
E51/A51:1000000 pulse/rev, E42/A42:100000 pulse/rev, E33/A33:25000 pulse/rev
Structure
Fully closed, self-cooling (protection method: IP65, IP67)
Environment conditions
To follow section 3-1-1 Environment conditions
Weight With/without brakes
[kg]
5.0/7.5
7.0/9.0
9.0/11
12/18
19/25
25/30
32/38
Armature insulation class
Class F
(Caution)
The above characteristic values are the representative values. The max. current and max. torque are the value when
combined with the amplifier.
